hasemwc.blogg.se - Kd max tune

This value is specified by the absolute percentage of the final value, which is 2% to 5%.

Settling Time is the time required by the response curve to reach and stay within a range that is approximately the final value of size.

Click the Step Response tab to view the system step response.

High static torque loads need integral gains to minimize position error when stopped. Integral gain improves positional accuracy. This restoring force works against constant torque loads to help achieve zero position error when an axis is stopped. It determines the contribution of restoring force that increases with time, ensuring that the static position error in the servo loop is forced to 0.

Integral Gain (Ki) is the static torque load on the system.

However, increasing Kd results in high acceleration, which can cause a ringing sound. Increasing derivative gain reduces oscillation at the commanded position. This force is much like viscous damping in a damped spring and mass mechanical system, such as a shock absorber. It determines the contribution of restoring force proportional to the rate of change, or derivative, of position error.

Derivative Gain (Kd) is the damping effects on the system.

Restoring force is comparable to a spring in a mechanical system.Ī high proportional gain gives a stiff responsive system but can cause instability from overshoot and oscillation.

It determines the contribution of restoring force directly proportional to the position error.

Proportional Gain (Kp) is the system stiffness.

Configure the PID Gain and Velocity Feedback Gain settings as appropriate.

Expand Calibration in the configuration tree, and select Servo Tune.

Expand NI–Motion Devices, and then expand the item for the appropriate motion controller.

Previous page next page Using MAX to Tune a Servo MotorĬomplete the following steps to tune a servo motor in MAX: